CN103481882A - Service braking system of four-axle chassis and crane with same - Google Patents
Service braking system of four-axle chassis and crane with same Download PDFInfo
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- CN103481882A CN103481882A CN201310479051.2A CN201310479051A CN103481882A CN 103481882 A CN103481882 A CN 103481882A CN 201310479051 A CN201310479051 A CN 201310479051A CN 103481882 A CN103481882 A CN 103481882A
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Abstract
The invention discloses a service braking control system of a four-axle chassis. The service braking control system is characterized in that a brake valve is communicated with a control port of a first relay valve of a first brake circuit, brake chambers are used for controlling a second axle, the brake chambers arranged on the left and right sides of a first axle are respectively controlled and communicated by a second relay valve and a third relay valve, and a control port of the second relay valve and a control port of the third relay valve are respectively communicated with an air outlet of an anti-lock magnetic valve of the second axle; a braking valve is communicated with a control port of a fourth relay valve of a second brake circuit, brake chambers are used for controlling a fourth axle, and the brake chambers arranged on the left and right sides of a third axle are respectively controlled and communicated by a fifth relay valve and a sixth relay valve; a control port of the fifth relay valve and a control port of the sixth relay valve are respectively communicated with the air outlet of an anti-lock magnetic valve of a fourth axle, and an abnormal anti-lock phenomenon of the second axle and the fourth axle is fully avoided through system optimization configuration. The invention also provides a crane with the service braking system.
Description
Technical field
The present invention relates to technical field of engineering machinery, be specifically related to a kind of four bridge chassis service braking systems and there is the hoisting crane of this service braking system.
Background technology
Along with the development of world economy, the large-scale construction projects such as wind-powered electricity generation, large-scale petrochemical are increasing, and full ground automobile chassis crane is able to widespread use; Particularly, four bridge crane chassis with its move flexibly, transition is rapid, can drop into fast the characteristics of operation, is subject to the favor in market.As everyone knows, automobile chassis crane set out on a journey travel and the hoisting operation process in, all need to possess good deceleration and stopping performance, to meet the security requirement of overall performance.
At present, the service brake control system of full ground four bridge car hosits is double loop gas circuit braking control system.Particularly, one or two bridges are controlled by a brake circuit, and three or four bridges are controlled by a brake circuit, and by the flow direction that realizes brake activation valve and coordinating of relay valve high brake pressure gas, control respectively; Yet, formed by himself and the restriction of control principle, there is following defect in the braking control system of existing four bridge crane chassis:
At first, a pin relay valve of a bridge is controlled four compressed air brake cylinders of left and right sides, and compressed air brake cylinder admission port pressure is less than ABS air extractor duct pressure, and intake efficiency is lower; Two bridge left and right sides compressed air brake cylinders are controlled by a pin relay valve respectively, and admission port directly connects air tank, and compressed air brake cylinder admission port pressure is approximately equal to air tank pressure, and intake efficiency is relatively high, can provide lock torque larger.Yet during service brake, two bridge axle loads are less than a bridge axle load, even under identical lock torque, than a bridge, also more easily produce locking, and the ABS control system controls is a bridge braking, therefore, in braking procedure, locking phenomenon very easily appears in two bridges.
Secondly, three or four bridge pin relay valve connection modes are identical with one or two bridges, in the service brake process, four bridge axle loads are less than three bridge axle loads, and the lock torque that four bridge brake circuits provide is greater than three bridges, and four bridges are easy to produce locking and cause the complete machine braking swerve while not having the ABS system to control braking
In view of this, urgently look for another way and be optimized design for the service brake control system that has four bridge chassis now, abnormal locking phenomenon occurs to avoid service brake process Zhong Erqiao and four bridges, and then avoid the generation of safety misadventure.
Summary of the invention
For above-mentioned defect, the technical matters that the present invention solves is to provide a kind of service brake control system of four bridge chassis, by system optimization, configures, to evade two bridges fully and abnormal locking phenomenon appears in four bridges.On this basis, the present invention also provides a kind of hoisting crane with this service brake control system.
The service brake control system on four bridge chassis provided by the invention, wherein, the left and right sides of a bridge and two bridges has two compressed air brake cylinders respectively, and the left and right sides of three bridges and four bridges has a compressed air brake cylinder respectively; And a described bridge and two bridges are controlled by the first brake circuit, described three bridges and four bridges are controlled by the second brake circuit, and control described the first brake circuit and described the second brake circuit by foot brake valves; Described brake activation valve is communicated with the control mouth of the first relay valve of described the first brake circuit, the first air extractor duct of described the first relay valve via the first anti-lock electromagnetic valve with the compressed air brake cylinder in described two bridges left sides, be connected, the second air extractor duct is connected with the compressed air brake cylinder on described two bridge right sides via the second anti-lock electromagnetic valve; The compressed air brake cylinder of a described bridge left and right sides is controlled and is communicated with by the second relay valve and the 3rd relay valve respectively, and the control mouth of described the second relay valve is communicated with the air extractor duct of described the first anti-lock electromagnetic valve, the control mouth of described the 3rd relay valve is communicated with the air extractor duct of described the second anti-lock electromagnetic valve; Described brake activation valve is communicated with the control mouth of the 4th relay valve of described the second brake circuit, the first air extractor duct of described the 4th relay valve via the 3rd anti-lock electromagnetic valve with the compressed air brake cylinder in described four bridges left sides, be connected, the second air extractor duct is connected with the compressed air brake cylinder on described four bridge right sides via the 4th anti-lock electromagnetic valve; The compressed air brake cylinder of the described three bridge left and right sides is controlled and is communicated with by the 5th relay valve and the 6th relay valve respectively, and the control mouth of described the 5th relay valve is communicated with the air extractor duct of described the 3rd anti-lock electromagnetic valve, the control mouth of described the 6th relay valve is communicated with the air extractor duct of described the 4th anti-lock electromagnetic valve.
Preferably, two air extractor ducts of described the second relay valve are communicated with the front left side of a described bridge and the compressed air brake cylinder of forward right side respectively, and two air extractor ducts of described the 3rd relay valve are communicated with the left rear side of a described bridge and the compressed air brake cylinder of right lateral side respectively.
Preferably, an air extractor duct of described the 5th relay valve is communicated with the compressed air brake cylinder in described three bridge left sides, an air extractor duct of described the 6th relay valve is communicated with the compressed air brake cylinder on described three bridge right sides, and another air extractor duct of described the 5th relay valve is communicated with another air extractor duct of described the 6th relay valve.
Preferably, each described relay valve is the pin relay valve, and described brake activation valve is foot brake valves.
Preferably, each described relay valve all is communicated with same pressure gas source.
Hoisting crane provided by the invention, comprise four bridge chassis and service brake control system thereof, to carry out four travelling gantry frame brakings; Described service brake control system is specially the service brake control system on foregoing four bridge chassis.
Compared with prior art, four bridge crane chassis service brake control system provided by the invention have been carried out the improvement of principle.Particularly, its foot brake valves is communicated with the control mouth of the first relay valve of the first brake circuit, the first air extractor duct of this first relay valve via the first anti-lock electromagnetic valve with the compressed air brake cylinder in two bridges left sides, be connected, the second air extractor duct is connected with the compressed air brake cylinder on two bridge right sides via the second anti-lock electromagnetic valve; Two bridges are controlled by the ABS antiblock device, and are controlled the pressed gas of four compressed air brake cylinders of two bridges by a relay valve; The compressed air brake cylinder of the one bridge left and right sides is controlled and is communicated with by the second relay valve and the 3rd relay valve respectively, that is to say, four compressed air brake cylinders of a bridge are controlled by two relay valves, and larger lock torque can be provided; And the control mouth of the second relay valve is communicated with the air extractor duct of the first anti-lock electromagnetic valve, the control mouth of the 3rd relay valve is communicated with the air extractor duct of the second anti-lock electromagnetic valve; Thus, under identical lock torque, not there will be two bridge locking phenomenons, improved the road-holding property of car load.
Identical with the configuration principle of a bridge, two bridges, its foot brake valves is communicated with the control mouth of the 4th relay valve of the second brake circuit, the first air extractor duct of the 4th relay valve via the 3rd anti-lock electromagnetic valve with the compressed air brake cylinder in four bridges left sides, be connected, the second air extractor duct is connected with the compressed air brake cylinder on four bridge right sides via the 4th anti-lock electromagnetic valve; Four bridges are controlled by the ABS antiblock device, and are controlled the pressed gas of two compressed air brake cylinders of four bridges by a relay valve; The compressed air brake cylinder of its three bridges left and right sides is controlled and is communicated with by the 5th relay valve and the 6th relay valve respectively, that is to say, two compressed air brake cylinders of three bridges are controlled by two relay valves, and larger lock torque can be provided; And the control mouth of the 5th relay valve is communicated with the air extractor duct of the 3rd anti-lock electromagnetic valve, the control mouth of the 6th relay valve is communicated with the air extractor duct of described the 4th anti-lock electromagnetic valve; Similarly, under identical lock torque, not there will be four bridge locking phenomenons, and then can evade the complete machine braking swerve fully, further improved the road-holding property of car load.
In preferred version of the present invention, two air extractor ducts of the second relay valve are communicated with the front left side of a bridge and the compressed air brake cylinder of forward right side respectively, and two air extractor ducts of the 3rd relay valve are communicated with the left rear side of a bridge and the compressed air brake cylinder of right lateral side respectively; That is to say, a relay valve is controlled two of bridge front sides compressed air brake cylinder, and another relay valve is controlled two compressed air brake cylinders of a bridge rear side.So arrange, the branch road of controlling when a side relay valve breaks down, and two compressed air brake cylinders in opposite side left and right still possess braking potential, for the service brake safety provides the failure-free guarantee.
In another preferred version of the present invention, an air extractor duct of the 5th relay valve is communicated with the compressed air brake cylinder in three bridge left sides, and an air extractor duct of the 6th relay valve is communicated with the compressed air brake cylinder on three bridge right sides; Another air extractor duct of the 5th relay valve is communicated with another air extractor duct of the 6th relay valve.Thus, can realize that in the situation of a side relay valve brake circuit inefficacy, the opposite side relay valve supplements air feed, guarantees that this side compressed air brake cylinder still has brake efficiency, farthest utilize the brake efficiency of existing brake circuit.
The service brake control system on four bridge chassis provided by the invention is applicable to any type of construction machinery and equipment, is specially adapted to hoisting crane.
The accompanying drawing explanation
The principle schematic of the service brake control system that Fig. 1 is the described four bridge chassis of the specific embodiment.
In figure:
The first relay valve 11, the first air extractor duct 111, the second air extractor duct 112, control mouth 113, the first anti-lock electromagnetic valve 12, the second anti-lock electromagnetic valve 13, the second relay valve 14, the first air extractor duct 141, the second air extractor duct 142, control mouth 143, the 3rd relay valve 15, the first air extractor duct 151, the second air extractor duct 152, control mouth 153, the 4th relay valve 21, the first air extractor duct 211, the second air extractor duct 212, control mouth 213, the 3rd anti-lock electromagnetic valve 22, the 4th anti-lock electromagnetic valve 23, the 5th relay valve 24, the first air extractor duct 241, the second air extractor duct 242, control mouth 243, the 6th relay valve 25, the first air extractor duct 251, the second air extractor duct 252, control mouth 253, compressed air brake cylinder 3.
The specific embodiment
Core of the present invention is to provide a kind of service brake control system for four bridge chassis, this system is optimized configuration in conjunction with the characteristics on four bridge chassis to service braking system, two bridges can be evaded fully and abnormal locking phenomenon appears in four bridges, for the traffic safety stability of car load provides the failure-free guarantee.Illustrate present embodiment below in conjunction with Figure of description.
Refer to Fig. 1, the principle schematic of the service brake control system that this figure is the described four bridge chassis of present embodiment.
Shown in figure, follow the car direction and be followed successively by from front to back a bridge, two bridges, three bridges and four bridges, in the service brake process, two, four bridge axle loads are less than respectively one, three bridge axle loads, therefore, the left and right sides that the left and right sides of one bridge and two bridges has two compressed air brake cylinder 3, three bridges and four bridges respectively has a compressed air brake cylinder 3 respectively; Should be appreciated that each vehicle bridge realizes that based on compressed air brake cylinder 3 braking principle of corresponding vehicle bridge is same as the prior art, therefore this paper does not remake too much description.
Similarly, the service brake control system on this four bridges chassis comprises the two-way brake circuit, and as shown in the figure, one bridge and two bridges are controlled by the first brake circuit, and Qi Sanqiao and four bridges are controlled by the second brake circuit; The two-way brake circuit is controlled the regulation and control of gas circuit by a brake activation valve, after brake activation valve is opened, air pressure reaches the relay valve in this loop after certain pressure to be opened, and starts respectively, to compressed air brake cylinder 3 air feed of each vehicle bridge, to realize service brake.Wherein, brake activation valve preferably adopts foot brake valves.
Wherein, the foot brake valves (not shown) is communicated with the control mouth 113 of the first relay valve 11, regulates and controls the opening of the first relay valve 11; The first air extractor duct 111 of this first relay valve 11 via the first anti-lock (ABS) electromagnetic valve 12 with two compressed air brake cylinders 3 in two bridges left sides, be connected, the second air extractor duct 112 is connected with the both sides compressed air brake cylinder 3 on two bridge right sides via the second anti-lock electromagnetic valve 13, like this, two bridges are controlled the pressed gas of its four compressed air brake cylinders 3 by first relay valve 11, and the Negotiation speed sensor detects the rotating speed of two bridge tires, by the ABS antiblock device, controlled; Wherein, the compressed air brake cylinder 3 of the one bridge left and right sides is controlled and is communicated with by the second relay valve 14 and the 3rd relay valve 15 respectively, that is to say, four compressed air brake cylinders 3 of one bridge are controlled by two relay valves (14,15), and the direct Bonding pressure source of the gas of admission port (air tank), identical road surface is adhered under condition, and larger lock torque can be provided; And the control mouth 143 of the second relay valve 14 is communicated with the air extractor duct of the first anti-lock electromagnetic valve 12, the control mouth 153 of the 3rd relay valve 15 is communicated with the air extractor duct of the second anti-lock electromagnetic valve 13, specifically by a road of corresponding ABS electromagnetic valve mineralization pressure gas, is shunted the control gas circuit of two relay valves of formation control one bridge.Thus, under identical lock torque, not there will be two bridge locking phenomenons.
Wherein, the foot brake valves (not shown) is communicated with the control mouth 213 of the 4th relay valve 21, regulates and controls the opening of the 4th relay valve 21; The first air extractor duct 211 of the 4th relay valve 21 is connected with two compressed air brake cylinders 3 in four bridge left sides via the 3rd anti-lock electromagnetic valve 22, its second air extractor duct 212 is connected with two compressed air brake cylinders 3 on four bridge right sides via the 4th anti-lock electromagnetic valve 23, like this, four bridges are controlled the pressed gas of its four compressed air brake cylinders 3 by the 4th relay valve 21, and the Negotiation speed sensor detects the rotating speed of four bridge tires, by the ABS antiblock device, controlled; Wherein, the compressed air brake cylinder 3 of the three bridge left and right sides is controlled and is communicated with by the 5th relay valve 24 and the 6th relay valve 25 respectively, obviously, two compressed air brake cylinders 3 of three bridges are controlled by two relay valves (24,25), and the direct Bonding pressure source of the gas of admission port (air tank), identical road surface is adhered under condition, similarly can provide larger lock torque; And the control mouth 243 of the 5th relay valve 24 is communicated with the air extractor duct of the 3rd anti-lock electromagnetic valve 23, the control mouth 253 of the 6th relay valve 25 is communicated with the air extractor duct of four anti-lock electromagnetic valves 23, thereby shunted the control gas circuit of two relay valves of formation control three bridges by a road of corresponding ABS electromagnetic valve mineralization pressure gas, in like manner, under identical lock torque, not there will be four bridge locking phenomenons.
Here, each relay valve is the pin relay valve, to possess operating characteristic preferably; It should be noted that, the pin relay valve can adopt existing techniques in realizing fully.
In order to obtain better service brake safety, can on the basis of above-mentioned driving braking control system, do further to optimize.As shown in the figure, the first air extractor duct 141 of the second relay valve 14 is communicated with the compressed air brake cylinder 3 of the front left side of a bridge, and its second air extractor duct 142 is communicated with the compressed air brake cylinder 3 of the forward right side of a bridge; The first air extractor duct 151 of the 3rd relay valve 15 is communicated with the left rear side compressed air brake cylinder 3 of a bridge, and the second air extractor duct 152 of the 3rd relay valve 15 is communicated with the compressed air brake cylinder 3 of the right lateral side of a bridge.Like this, utilize a relay valve to control two of bridge front sides compressed air brake cylinder, another relay valve is controlled two compressed air brake cylinders of a bridge rear side, and advantage is in a side relay valve brake circuit fault, two compressed air brake cylinders in opposite side left and right still possess braking potential, thereby have improved the service brake safety.
In addition, can also do further to optimize for the concrete application mode of two relay valves controlling three bridges.As shown in the figure, the first air extractor duct 241 of the 5th relay valve 24 is communicated with the compressed air brake cylinder 3 in three bridge left sides, the second air extractor duct 242 of the 5th relay valve 24 is communicated with the first air extractor duct 251 of the 6th relay valve 25, and the second air extractor duct 252 of the 6th relay valve 25 is communicated with the compressed air brake cylinder 3 on three bridge right sides.Thus, two air extractor ducts (242,251) mouth of two relay valves of three bridges directly is connected, realize in the situation of a side relay valve brake circuit inefficacy, can supplement air feed by the opposite side relay valve, the compressed air brake cylinder 3 that guarantees this side still has brake efficiency, has farthest utilized the brake efficiency of existing brake circuit.
Special version, each relay valve can all be communicated with same pressure gas source (not shown), that is to say, and the independent air tank be connected with each relay valve is all unified by the air compressor air feed; Can certainly distinguish pressure gas source of separate configurations, obtain in addition preferably braking effect; During actual design, can be selected as required, as long as meet in the scope that the above-mentioned functions needs all ask for protection in the application.
Except the service brake control system on aforementioned four bridge chassis, present embodiment also provides the hoisting crane of this service brake control system of a kind of application, to carry out the actv. service brake; Similarly it should be noted that, other functional components such as the chassis of this hoisting crane, electric system, hoisting system, power system all can adopt existing techniques in realizing, therefore this paper repeats no more, and do not carry out corresponding diagram.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. the service brake control system on four bridge chassis, wherein, the left and right sides of a bridge and two bridges has two compressed air brake cylinders respectively, and the left and right sides of three bridges and four bridges has a compressed air brake cylinder respectively; And a described bridge and two bridges are controlled by the first brake circuit, described three bridges and four bridges are controlled by the second brake circuit, and control described the first brake circuit and described the second brake circuit by brake activation valve; It is characterized in that,
Described brake activation valve is communicated with the control mouth of the first relay valve of described the first brake circuit, the first air extractor duct of described the first relay valve via the first anti-lock electromagnetic valve with the compressed air brake cylinder in described two bridges left sides, be connected, the second air extractor duct is connected with the compressed air brake cylinder on described two bridge right sides via the second anti-lock electromagnetic valve; The compressed air brake cylinder of a described bridge left and right sides is controlled and is communicated with by the second relay valve and the 3rd relay valve respectively, and the control mouth of described the second relay valve is communicated with the air extractor duct of described the first anti-lock electromagnetic valve, the control mouth of described the 3rd relay valve is communicated with the air extractor duct of described the second anti-lock electromagnetic valve;
Described brake activation valve is communicated with the control mouth of the 4th relay valve of described the second brake circuit, the first air extractor duct of described the 4th relay valve via the 3rd anti-lock electromagnetic valve with the compressed air brake cylinder in described four bridges left sides, be connected, the second air extractor duct is connected with the compressed air brake cylinder on described four bridge right sides via the 4th anti-lock electromagnetic valve; The compressed air brake cylinder of the described three bridge left and right sides is controlled and is communicated with by the 5th relay valve and the 6th relay valve respectively, and the control mouth of described the 5th relay valve is communicated with the air extractor duct of described the 3rd anti-lock electromagnetic valve, the control mouth of described the 6th relay valve is communicated with the air extractor duct of described the 4th anti-lock electromagnetic valve.
2. the service brake control system on four bridge chassis according to claim 1, it is characterized in that, two air extractor ducts of described the second relay valve are communicated with the front left side of a described bridge and the compressed air brake cylinder of forward right side respectively, and two air extractor ducts of described the 3rd relay valve are communicated with the left rear side of a described bridge and the compressed air brake cylinder of right lateral side respectively.
3. the service brake control system on four bridge chassis according to claim 1 and 2, it is characterized in that, an air extractor duct of described the 5th relay valve is communicated with the compressed air brake cylinder in described three bridge left sides, an air extractor duct of described the 6th relay valve is communicated with the compressed air brake cylinder on described three bridge right sides, and another air extractor duct of described the 5th relay valve is communicated with another air extractor duct of described the 6th relay valve.
4. the service brake control system on four bridge chassis according to claim 3, is characterized in that, each described relay valve is the pin relay valve, and described brake activation valve is foot brake valves.
5. the service brake control system on four bridge chassis according to claim 1, is characterized in that, each described relay valve all is communicated with same pressure gas source.
6. hoisting crane, comprise four bridge chassis and service brake control system thereof, to carry out four travelling gantry frame brakings; It is characterized in that the concrete service brake control system that adopts four bridge chassis as described as any one in claim 1 to 5 of described service brake control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310479051.2A CN103481882B (en) | 2013-10-14 | 2013-10-14 | Four bridge chassis service braking systems and there is the hoisting crane of this service braking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310479051.2A CN103481882B (en) | 2013-10-14 | 2013-10-14 | Four bridge chassis service braking systems and there is the hoisting crane of this service braking system |
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| CN103481882A true CN103481882A (en) | 2014-01-01 |
| CN103481882B CN103481882B (en) | 2015-09-16 |
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| CN201310479051.2A Active CN103481882B (en) | 2013-10-14 | 2013-10-14 | Four bridge chassis service braking systems and there is the hoisting crane of this service braking system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004847A (en) * | 2016-07-13 | 2016-10-12 | 徐州重型机械有限公司 | Pneumatic braking system and working vehicle |
| CN106080563A (en) * | 2016-07-05 | 2016-11-09 | 徐州重型机械有限公司 | Service brake control system and vehicle |
| CN110371095A (en) * | 2019-07-23 | 2019-10-25 | 一汽解放汽车有限公司 | A kind of service braking system and vehicle |
| CN111252054A (en) * | 2020-01-20 | 2020-06-09 | 中车株洲电力机车有限公司 | Braking system |
| CN112172768A (en) * | 2020-10-29 | 2021-01-05 | 刘剑 | Pneumatic brake device for vehicle |
| CN114802146A (en) * | 2022-05-25 | 2022-07-29 | 中国重汽集团济南动力有限公司 | Rear axle driving double-loop control braking system and vehicle |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080563A (en) * | 2016-07-05 | 2016-11-09 | 徐州重型机械有限公司 | Service brake control system and vehicle |
| CN106004847A (en) * | 2016-07-13 | 2016-10-12 | 徐州重型机械有限公司 | Pneumatic braking system and working vehicle |
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| CN110371095A (en) * | 2019-07-23 | 2019-10-25 | 一汽解放汽车有限公司 | A kind of service braking system and vehicle |
| CN110371095B (en) * | 2019-07-23 | 2020-09-18 | 一汽解放汽车有限公司 | Service braking system and vehicle |
| CN111252054A (en) * | 2020-01-20 | 2020-06-09 | 中车株洲电力机车有限公司 | Braking system |
| CN111252054B (en) * | 2020-01-20 | 2021-09-17 | 中车株洲电力机车有限公司 | Braking system |
| CN112172768A (en) * | 2020-10-29 | 2021-01-05 | 刘剑 | Pneumatic brake device for vehicle |
| CN112172768B (en) * | 2020-10-29 | 2021-08-20 | 刘剑 | Pneumatic brake device for vehicle |
| CN114802146A (en) * | 2022-05-25 | 2022-07-29 | 中国重汽集团济南动力有限公司 | Rear axle driving double-loop control braking system and vehicle |
| CN114802146B (en) * | 2022-05-25 | 2023-11-03 | 中国重汽集团济南动力有限公司 | Rear axle driving double-loop control braking system and vehicle |
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| CN103481882B (en) | 2015-09-16 |
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